摘要
The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics.In particular,electrohydrodynamic(EHD)actuators,which have expandable integrability to adapt to the flexible motion of soft robots,have received much attention in the field of soft robotics.Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood.We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera.In addition,we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique.Results indicate the importance of considering flow generated by electrostatic energy,which tends to be ignored in constructing and evaluating EHD devices,and by the body force generated by the ion-drag force.By considering these effects,we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.
基金
supported by JSPS KAKENHI Grant Numbers JP19H02113,JP18J22908
the Japan Society for the Promotion of Science of JRPs(Stretchable ElectroHydroDynamics).
